Export Blender Character animation to Cinema 4D Lite
I would use either COLLADA or FBX.
COLLADA
Copy these setting exactly. They can be found on the bottom left when you choose what to call the file.

Overview of settings

Apply modifiers:
Applies any modifiers like subsurf, generally a good thing since your mesh could end up different on the other side

Selection Only: If you have a hole bunch of other stuff in your scene, this can be useful to limit which objects you send.

Texture Options: Allow you to send textures.

Deform Bones Only: Removes all bones that don't influence a mesh


The rest of the setting are irrelevant
NOTE: You can only export Euler rotation, not Quaternion.
FBX
The default options work, just make sure you have Armature selected:

More Options:
Simply try each one of these the C4D Lite supports. Make sure to include animation + armatures in the setting in the bottom right hand corner (like mentioned above).